version: 66.02
glider: 102
mission: 4
dive: 295
start: 1 17 108 8 9 33
data:
$ID,102
$MISSION,4
$DIVE,295
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-82186.297
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.5065012
$PRESSURE_SLOPE,0.00011626
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,075607,6343.939,-1304.464,40,1.0,40,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-61.1
$GPS2,080826,6344.050,-1304.293,9,1.6,9,-12.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.164,-0.172
$KALMAN_X,370524.6,-34.3,-1303.0,-611092.7,12867.4
$KALMAN_Y,52679.3,1737.8,-405.3,188458.0,6758.9
$MHEAD_RNG_PITCHd_Wd,235.9,18940,-14.7,-8.000
$D_GRID,706
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.23,-146.6,0.0,0.0,0,66,0.00,0.00,-41.67,0.000,2,0.000,0.000,30,1888,2428
$GC,69,-1.23,-146.6,3.1,-2.7,2,137,11.62,2.60,-50.10,0.000,4,0.139,0.077,2225,496,3476
$GC,149,-1.23,-146.6,7.0,-10.7,6,153,0.00,2.45,0.00,0.000,6,0.000,0.039,2226,1905,3476
$GC,475,-1.23,-146.6,43.9,-11.8,22,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1909,3476
$GC,784,-1.23,-146.6,79.4,-11.6,37,789,0.00,2.50,0.00,0.000,4,0.000,0.049,2225,3303,3476
$GC,828,-1.23,-146.6,84.4,-11.3,39,832,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1898,3476
$GC,1155,-1.23,-146.6,121.4,-12.2,55,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3476
$GC,1465,-1.23,-146.6,155.9,-11.5,70,1469,0.00,2.50,0.00,0.000,4,0.000,0.048,2226,3298,3476
$GC,1564,-1.23,-146.6,168.1,-10.8,74,1570,0.00,2.47,0.00,0.000,6,0.000,0.043,2226,1899,3476
$GC,1880,-1.23,-146.6,204.6,-10.1,90,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3476
$GC,2189,-1.23,-146.6,238.0,-10.7,105,2193,0.00,2.50,0.00,0.000,4,0.000,0.048,2226,3299,3476
$GC,2267,-1.23,-146.6,246.1,-9.3,108,2273,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1894,3476
$GC,2583,-1.23,-146.6,272.8,-8.3,124,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3476
$GC,2892,-1.23,-146.6,299.0,-8.5,139,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1894,3476
$GC,3202,-1.23,-146.6,325.9,-8.2,154,3206,0.00,2.53,0.00,0.000,4,0.000,0.049,2226,3299,3476
$GC,3258,-1.23,-146.6,330.7,-8.5,156,3264,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1894,3476
$GC,3573,-1.23,-146.6,358.5,-9.6,172,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3476
$GC,3883,-1.23,-146.6,388.5,-9.9,187,3887,0.00,2.53,0.00,0.000,4,0.000,0.051,2226,3302,3476
$GC,3971,-1.23,-146.6,398.0,-10.4,191,3975,0.00,2.50,0.00,0.000,6,0.000,0.047,2226,1896,3476
$GC,4297,-1.23,-146.6,430.7,-9.6,207,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3476
$GC,4607,-1.23,-146.6,459.7,-9.3,222,4611,0.00,2.53,0.00,0.000,4,0.000,0.051,2225,3297,3476
$GC,4656,-1.23,-146.6,464.2,-9.4,224,4660,0.00,2.50,0.00,0.000,6,0.000,0.047,2226,1899,3476
$GC,4971,-1.23,-146.6,490.9,-8.2,239,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3475
$GC,5280,-1.23,-146.6,516.4,-8.9,254,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3475
$GC,5590,-1.23,-146.6,548.1,-10.0,269,5594,0.00,2.53,0.00,0.000,4,0.000,0.053,2226,3296,3475
$GC,5701,-1.23,-146.6,557.2,-7.5,274,5706,0.00,2.50,0.00,0.000,6,0.000,0.049,2225,1902,3476
$GC,6022,-1.23,-146.6,584.7,-8.1,290,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3475
$GC,6332,-1.23,-146.6,603.9,-6.7,305,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3475
$GC,6641,-1.23,-146.6,625.7,-4.8,320,6645,0.00,2.55,0.00,0.000,4,0.000,0.058,2225,3299,3475
$GC,6793,-1.23,-146.6,628.7,-1.9,327,6797,0.00,2.50,0.00,0.000,6,0.000,0.050,2225,1899,3475
$GC,7119,-1.23,-146.6,649.5,-7.9,343,7123,0.00,2.53,0.00,0.000,4,0.000,0.058,2225,3294,3475
$GC,7181,-1.23,-146.6,656.7,-11.8,346,7185,0.00,2.50,0.00,0.000,6,0.000,0.050,2225,1898,3475
$GC,7507,-1.23,-146.6,688.4,-9.6,362,7511,0.00,2.55,0.00,0.000,4,0.000,0.058,2225,3296,3475
$GC,7641,-1.23,-146.6,702.6,-10.4,368,7646,0.00,2.53,0.00,0.000,6,0.000,0.052,2225,1900,3475
$STATE,7671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7671,begin apogee
$GC,7678,-0.36,0.0,706.4,11.7,370,7805,0.90,0.00,124.38,1.251,6,0.081,0.000,2416,2102,2878
$STATE,7806,end apogee,CONTROL_FINISHED_OK
$STATE,7806,begin climb
$GC,7809,1.23,146.6,712.4,0.0,376,7939,1.55,2.75,122.22,1.229,4,0.054,0.074,2761,694,2280
$GC,8195,1.49,361.5,713.5,-0.2,393,8381,0.28,2.53,176.68,1.233,6,0.041,0.048,2834,2091,1404
$GC,8688,1.49,361.5,675.8,13.1,417,8692,0.00,2.65,0.00,0.000,4,0.000,0.077,2834,694,1404
$GC,8946,1.49,361.5,634.5,16.5,428,8952,0.00,2.53,0.00,0.000,6,0.000,0.046,2834,2106,1403
$GC,9261,1.49,361.5,588.2,13.7,444,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2106,1403
$GC,9570,1.49,361.5,548.6,12.7,459,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2110,1403
$GC,9880,1.49,361.5,514.0,10.7,474,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2111,1402
$GC,10189,1.49,361.5,476.2,13.1,489,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2111,1402
$GC,10498,1.49,361.5,433.9,14.0,504,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2111,1402
$GC,10808,1.49,361.5,389.8,14.6,519,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2112,1402
$GC,11117,1.49,361.5,343.6,15.0,534,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2111,1402
$GC,11426,1.49,361.5,297.5,14.8,549,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2111,1403
$GC,11735,1.49,361.5,253.0,14.4,564,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2111,1403
$GC,12045,1.49,361.5,206.4,15.0,579,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2111,1403
$GC,12354,1.49,361.5,162.8,13.8,594,12358,0.00,2.65,0.00,0.000,4,0.000,0.067,2834,686,1403
$GC,12393,1.49,361.5,157.2,14.4,596,12398,0.00,2.50,0.00,0.000,6,0.000,0.040,2834,2112,1403
$GC,12720,1.49,361.5,112.4,13.5,612,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2115,1403
$GC,13030,1.49,361.5,71.3,13.2,627,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2115,1403
$GC,13338,1.49,361.5,29.8,14.0,642,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2115,1404
$STATE,13542,end climb,SURFACE_DEPTH_REACHED
$STATE,13542,begin surface coast
$FINISH,1.4,1.014008
$STATE,13565,end surface coast,CONTROL_FINISHED_OK
$STATE,13565,begin surface
$SM_CCo,13648,0.00,0.000,0,0,1402,362.06
$SM_GC,2.30,12.05,0.00,0.00,0.030,0.000,0.000,31,1886,1402,-11.27,-0.40,362.06
$IRIDIUM_FIX,6317.84,-1259.68,170108,111109
$TT8_MAMPS,0.026845
$HUMID,2072
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,23.2,62.268
$10V_AH,10.1,30.166
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.400,71.625,423.275,0.000,0.000,75.653,72.504,357.582,6.250,0.000,0.000,10.935,1185.924,10484.227,479.605,1483.349,751.765,33.386,1235.502,0.000,1454.336,0.000,38.103
$DEVICE_MAMPS,138.827,77.467,1250.977,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.823,439.572,390.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31669,653
$CFSIZE,260165632,240234496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,170108,115808,6343.480,-1303.251,33,1.5,33,-12.3